#pragma once
#include "../hal/gpio.h"
#include "../hal/shr16.h"

namespace hal {

/// TMC2130 interface
/// There are multiple TMC2130 on our board, so there will be multiple
/// instances of this class
/// @@TODO @leptun - design some lightweight TMC2130 interface
namespace tmc2130 {

enum MotorMode : uint8_t {
    Stealth,
    Normal
};

struct MotorParams {
    uint8_t idx;            ///< SHR16 index
    bool dirOn;             ///< forward direction
    gpio::GPIO_pin csPin;   ///< CS pin
    gpio::GPIO_pin stepPin; ///< step pin
    gpio::GPIO_pin sgPin;   ///< stallguard pin
    uint8_t uSteps;         ///< microstep resolution
};

struct MotorCurrents {
    bool vSense;            ///< VSense current scaling
    uint8_t iRun;           ///< Running current
    uint8_t iHold;          ///< Holding current
};

class TMC2130 {
    MotorMode mode;
    MotorCurrents currents;

public:
    /// constructor
    TMC2130(const MotorParams& params,
            const MotorCurrents& currents,
            MotorMode mode);

    /// (re)initialization of the chip
    void Init(const MotorParams& params);

    /// Get/Change the current motor mode
    MotorMode Mode() { return mode; } const
    void SetMode(MotorMode mode);

    /// Get/Change the current motor currents
    const MotorCurrents& Currents() { return currents; } const
    void SetCurrents(const MotorCurrents& currents);

    /// Return enabled state
    bool Enabled() const;

    /// Enable/Disable the motor
    void SetEnabled(const MotorParams& params, bool enabled)
    {
        hal::shr16::shr16.SetTMCDir(params.idx, enabled);
    }

    /// Set direction
    void SetDir(const MotorParams& params, bool dir)
    {
        hal::shr16::shr16.SetTMCDir(params.idx, dir ^ params.dirOn);
    }

    /// Step the motor
    inline void Step(const MotorParams& params)
    {
        gpio::TogglePin(params.stepPin); // assumes DEDGE
    }

    /// Return SG state
    inline bool Stall(const MotorParams& params)
    {
        return gpio::ReadPin(params.sgPin) == gpio::Level::high;
    }
};

} // namespace tmc2130
} // namespace hal